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function b = back(engine, bfuture, f, t)
if f.t ~= t
error('mixed up time stamps')
end
b.t = t;
b.obslik = f.obslik;
bb_future = bfuture.beta .* bfuture.obslik;
if engine.maximize
B = repmat(bb_future(:)', length(bfuture.beta), 1);
b.beta = normalise(max(engine.transprob .* B, [], 2));
else
b.beta = normalise((engine.transprob * bb_future));
end
b.gamma = normalise(f.alpha .* b.beta);
if t > 1
bb_t = b.beta .* b.obslik;
b.xi = normalise((engine.transprob .* (f.past_alpha * bb_t'))); % t-1,t
end
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